一种磁异常梯度测量的地磁/惯性融合导航方法  

Geomagnetic/Inertial Fusion Navigation Method Based on Magnetic Anomaly Gradient Measurement

作　　者：梁宇潇 高东 LIANG Yuxiao;GAO Dong(National Space Science Center,Chinese Academy of Sciences,Beijing 100190;University of Chinese Academy of Sciences,Beijing 100049)

机构地区：[1]中国科学院国家空间科学中心,北京100190 [2]中国科学院大学,北京100049

出　　处：《空间科学学报》2025年第1期201-214,共14页Chinese Journal of Space Science

基　　金：中国科学院国防科技重点实验室基金项目资助(CXJJ-22S017)。

摘　　要：地磁导航是一种基于地球天然磁场的导航方法,其自主性强,抗干扰性能好,可以在多种环境下正常工作,但低空/水下地磁匹配导航需要基于大量测量数据构建地磁图且对于平台计算能力要求较高,给地磁导航的应用带来不便.惯性导航在短时间内精度较高,但随着时间推移会出现较大的累积误差.本文将从地磁总场中提取的磁异常场前后两次测量间的差分信息作为观测量,依据磁异常场的偶极子特征,基于磁偶极子模型理论推导了应用于导航系统滤波器的磁异常梯度测量矩阵,提出利用磁异常梯度信息修正惯性导航系统的误差的地磁/惯性融合导航方法,降低了地磁导航对先验地磁图的要求,同时修正了惯导导航误差.对比纯惯性导航,相同条件下该方法的导航位置精度有显著提升,为运动平台自主导航探索了一种新方法.Geomagnetic navigation is an autonomous navigation method that utilizes the natural magnetic field of the Earth.It has various advantages such as strong autonomy and good anti-interference performance,and can work normally in various environments to play its role.However,in the fields of low altitude navigation and underwater navigation,geomagnetic matching navigation requires the construction of geomagnetic maps based on a large amount of measurement data,and requires the motion platform equipped with this navigation method to have high computing power.The above issues bring inconvenience to the application of geomagnetic navigation.Inertial navigation method is a commonly used autonomous navigation method that has high accuracy in a short period of time.However,over time,its navigation results will have significant cumulative errors,which will affect the accuracy of navigation positioning.This article extracts differential information of magnetic anomaly fields from the total measurement information of the Earth's magnetic field through differential measurement information at different positions during platform movement,as the observation of the paper.Meanwhile,based on the magnetic dipole characteristics of the magnetic anomaly field,this article derives a magnetic anomaly gradient measurement matrix that can be applied to navigation system filters on the basis of the magnetic dipole model theory.By using the magnetic anomaly gradient information to correct the cumulative error of the inertial navigation system,a geomagnetic/inertial fusion navigation method is proposed.This method can reduce the requirement for high-precision prior geomagnetic maps in geomagnetic navigation,while also correcting navigation errors in inertial navigation.Comparing the navigation method proposed in this article with the pure inertial navigation method,it was found that the navigation position accuracy of this method has significantly improved under the same conditions.The research conducted in this article explores a new method

关 键 词：地磁导航 惯性导航 磁偶极子 融合导航 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]